Bayern Munich coach Pep Guardiola praised the "heart" of his players after they battled back from a goal down for the second Champions League game in succession to beat Manchester United and reach the semifinals.

Arjen Robben and Bayern Munich advanced to the Champions League semifinals.

Just as they did at Old Trafford last week, Bayern found themselves behind despite dominating possession as Patrice Evra's second-half goal tilted the tie in United's favour.

But Guardiola's side wasted little time in equalising, Mario Madzukic scoring 71 seconds later before strikes from Thomas Mueller and Arjen Robben secured a 3-1 win and Bayern's progress.

"They need to explain to me why they always need to go behind before they can react," Guardiola said after the game. "With 3-1 the game was done, we had more and more possession. The opponent was running and running and running -- that was something that I didn't necessarily want that they would chase us so much.

"They've got a lot of heart these players. I'm very proud of this team. It's not easy. We're defending this title so that's a lot of pressure on our minds. In this club, everything is not enough. It's not easy to play in a situation like that when you are just expected to win, win win. If you don't win it is really difficult. Now we are in the semifinals, we were last season… I'm really happy for the club and of course the players."

Bayern join Real Madrid, Atletico Madrid and Chelsea in the semifinal draw as they look to become the first club in the Champions League era to retain their title. But Guardiola believes his side will face a battle no matter who they are draw against.

"Every team has their qualities," Guardiola said. "Real Madrid have a fantastic team, fantastic players. For Atletico Madrid it is the first time they have been in a position like this, it's an incredible moment for this club.

"Chelsea are an English team, they have a lot of experience with Petr Cech, Branislav Ivanovic, John Terry, Frank Lampard and a manager with a lot of experience. "Every team has their special qualities so it depends on the draw."